STABILIZATION OF NONHOLONOMIC INTEGRATOR SYSTEMS USING SWITCHING LOGIC
Nonholonomic Integrator is an example of nonlinear control systems which is controllable but fail to meet Brockett’s Condition for smooth stability. In this final project, hybrid control law employing switching logic is used to stabilize Nonholonomic Integrator. A simple controller is proposed wh...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/19279 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Nonholonomic Integrator is an example of nonlinear control systems which is controllable but fail to meet Brockett’s Condition for smooth stability. In this final project, hybrid control law employing switching logic is used to stabilize Nonholonomic Integrator. A simple controller is proposed which yields global stability and convergence of solutions to the origin. This is achieved by mapping the state space into and dividing it into four overlapping regions where, for each region, a control law is conveniently designed. Simulations show that the solution and the input will converge to zero and stability of the system achieved in short time |
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